ci_windows.yml

# https://help.github.com/en/articles/workflow-syntax-for-github-actions

name: CI Windows

on:
  push:
    branches:
      - "**"
    paths-ignore:
      - ".github/workflows/cache_*.yml"
      - "docker/dev/**"
  pull_request:
    branches:
      - "**"
    paths-ignore:
      - ".github/workflows/cache_*.yml"
      - "docker/dev/**"
  schedule:
    # Cron syntax: [minute hour day_of_the_month month day_of_the_week]
    - cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00
  workflow_dispatch:

jobs:
  build:
    name: win-${{ matrix.build_type }}
    runs-on: windows-latest
    strategy:
      fail-fast: false
      matrix:
        toolset: [""]
        build_type: [Release]
        build_shared_libs: [OFF] # TODO(JS): Add ON once shared lib build is resolved

    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - uses: johnwason/vcpkg-action@v6
        with:
          # TODO: Add ode and coin-or-ipopt
          pkgs: >
            assimp
            eigen3
            fcl
            fmt
            spdlog
            bullet3
            freeglut
            glfw3
            nlopt
            opengl
            osg
            pagmo2
            tinyxml2
            tracy
            urdfdom
          triplet: x64-windows
          revision: "2024.06.15"
          github-binarycache: true
          token: ${{ github.token }}

      - name: Install Python dependencies
        run: |
          python -m pip install --upgrade pip
          pip install -U pytest

      - name: Build
        shell: cmd
        run: |
          cmake ^
            -S . ^
            -B build ^
            -G "Visual Studio 17 2022" ^
            -A x64 ^
            -Wno-dev ${{ matrix.toolset }} ^
            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
            -DCMAKE_TOOLCHAIN_FILE="${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake" ^
            -DDART_MSVC_DEFAULT_OPTIONS=ON ^
            -DDART_VERBOSE=ON ^
            -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^
            -DDART_USE_SYSTEM_IMGUI=OFF ^
            || exit /b
          cmake ^
            --build build ^
            --config ${{ matrix.build_type }} ^
            --target ALL_BUILD ^
            --parallel ^
            || exit /b
          ctest ^
            --test-dir build ^
            --output-on-failure ^
            --build-config ${{ matrix.build_type }} ^
            || exit /b

  build_on_pixi:
    name: win-pixi
    runs-on: windows-latest
    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Setup pixi
        uses: prefix-dev/setup-pixi@v0.8.1
        with:
          cache: true

      - name: Check Lint
        run: pixi run check-lint

      - name: Test DART and dartpy
        run: |
          pixi run test # TODO: Change to test-all
  
      - name: Install
        run: |
          pixi run install